The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator

Rodrigo Jamisola; Marcelo H. Ang; Denny Oetomo; Oussama Khatib; Tao Ming; Ser Yong Lim

doi:10.1109/ROBOT.2002.1013393

The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator

Rodrigo Jamisola, Marcelo H. Ang, Denny Oetomo, Oussama Khatib, Tao Ming, Ser Yong Lim

Mechanical, Energy & Industrial Engineering

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

Abstract

The Operational Space Formulation provides a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to aircraft canopy polishing is shown using a mobile manipulator. The mobile manipulator end-effector maintains a desired force normal to the canopy surface of unknown geometry in doing a compliant polishing motion, while, at the same time, its mobile base moves around the shop floor, effectively increasing the mobile manipulator's workspace. The mobile manipulator consists of a PUMA 560 mounted on top of a Nomad XR4000. Implementation issues are discussed and simultaneous motion and force regulation results are shown.

Original language	English
Pages (from-to)	400-405
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/ROBOT.2002.1013393
Publication status	Published - May 2002

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2002.1013393

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AU - Ming, Tao

AU - Lim, Ser Yong

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The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator

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